A novel approach for robot homing

Koku, Ahmet Buğra
Although metric navigation techniques have been widely adapted in robot navigation, some powerful qualitative navigation methods have been proposed to achieve navigation. These methods do not require strict metric measures or presence of metric maps. This paper briefly introduces such qualitative navigation techniques and introduces a novel approach for qualitative robot navigation. Comparison of this method to some existing ones is given and performance analysis is presented. This technique requires less amount of information and its performance is comparable to other similar methods.


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Kaygisiz, Burak H.; Erkmen, Aydan Müşerref; Erkmen, İsmet (Springer Science and Business Media LLC, 2007-06-01)
Integrated global positioning system and inertial navigation system (GPS/INS) have been extensively employed for navigation purposes. However, low-grade GPS/INS systems generate erroneous navigation solutions in the absence of GPS signals and drift very fast. We propose in this paper a novel method to integrate a low-grade GPS/INS with an artificial neural network (ANN) structure. Our method is based on updating the INS in a Kalman filter structure using ANN during GPS outages. This study focuses on the des...
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İnce, Talha; Saranlı, Afşar; Department of Electrical and Electronics Engineering (2018)
An Inertial Navigation System (INS) is a combination of hardware (accelerometers and gyroscopes) and algorithms to calculate the position, orientation and velocity of a mobile platform. Because of the need to integrate the measurements over time, INS is subjected to cumulative error characteristics, hence cannot provide an accurate navigation solution over long durations. Global Positioning System (GPS) is often used for long time-long distance problems aiding INS. GPS relies on external signals received fr...
Comparison of EKF, EKF2 and UKF in a loosely coupled INS/GPS integration
Jane, Hande; Baykal, Buyurman; Department of Electrical and Electronics Engineering (2018)
Developing effective navigation solutions in land, sea, air, and space travels is an ever increasing necessity maintaining its validity. Nowadays, although a navigation aid called satellite based Global Positioning System (GPS) is used to develop a navigation solution, standalone GPS cannot achieve the desired accuracy in some applications. For this reason, GPS measurements are integrated with the Inertial Navigation System (INS) to develop an enhanced accurate integrated navigation solution. Extended Kalma...
Citation Formats
A. B. Koku and D. M. WİLKES, “A novel approach for robot homing,” 2003, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/41962.